Landing control of a quadrotor on a moving platform with unknown speed in the field of view

被引：0

作者：

Li, Junyan ^{[1
,2
]}

Zhu, Chunli ^{[1
]}

Lv, Yuezu ^{[1
]}

Chen, Lei ^{[1
,2
]}

机构：

[1] Beijing Inst Technol, Adv Res Inst Multidisciplinary Sci, Beijing, Peoples R China

[2] Beijing Inst Technol, Yangtze Delta Reg Acad, Jiaxing, Peoples R China

来源：

ASIAN JOURNAL OF CONTROL | 2025年 / 27卷 / 03期

基金：

中国国家自然科学基金;

关键词：

adaptive control; autonomous landing; optimal control; trajectory planning; unmanned aerial vehicle; VISUAL SERVO CONTROL; UNMANNED AERIAL VEHICLE; TRACKING;

D O I：

10.1002/asjc.3522

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a solution for the landing of quadrotor UAV on moving platform with unknown speed. To ensure landing target within the field of view, a feasible region is first defined with the angle between the centroid of quadrotor and target in an expected range. Then an adaptive controller is designed to complete the landing process constrained in the feasible region for all targets with smaller speed than a control gain. Furthermore, to restrain the disturbance of target speed, the controller is improved to regulate landing process with an induced angle. The robust controller restrains the possible oscillation caused by uncertainty of target speed. Both numerical simulations and real-world experiment validated the proposed solution.

引用

页码：1416 / 1426

页数：11

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